JP2008046032A - Camera checking system and checking camera of reprocessing facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To propose a camera checking system and a checking camera for a processing facility, which can safely check reprocessing facility under radiation contamination conditions by remote control, attain low costs and have a long life and high reliability. <P>SOLUTION: This camera checking system 1 of the reprocessing facility which is attached by suspending it from a crane fitted in lengthwise and crosswise freely running manner on an upper part of a cell wall (a) of the reprocessing facility, which has the checking camera 2 hung by a hanging means 9 from a turning hanging tool (c) having a function allowing driving and rotating around a hanging core (b), which transmits and receives image signals and operation signals of the checking camera 2, and which checks the images picked up by the checking camera 2 outside the cell. The checking camera 2 is equipped with a CCD camera 3, a drive mechanism 4 which drives the CCD camera 3 in the direction of tilt, a lighting lamp 14 which illuminates the front part of the lens of the CCD camera 3, and a camera case 6. By rotating the turning and hanging tool (c), a panning direction move of the checking camera 2 is performed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  According to the present invention, a crane for a spent fuel reprocessing facility is moved and moved up and down to suspend the inspection camera at a desired position in the reprocessing facility, and the reprocessing facility is inspected by an image captured by the inspection camera. The present invention relates to a processing facility camera inspection system and an inspection camera.

In the reprocessing facility, there is equipment installed in a room (hereinafter referred to as “cell”) where people cannot enter and exit because of the high radioactive environment. Maintenance / inspection of these devices is carried out by remote operation from outside the cell, but a remote operation type inspection camera is required to view the local area in detail during these operations.
The following have been proposed so far for inspection or surveillance cameras in nuclear power plants.
A self-propelled surveillance camera device frame is provided with a monitoring camera mechanism section for monitoring the inside of the steam generator of the nuclear power plant and a plurality of lifting mechanism sections in tandem, and each lifting mechanism section is provided outside the frame. When the pantograph is developed, it has been proposed that the driving wheel is pressed between the electric heating tubes in the steam generator and is self-propelled along the electric heating tubes. (See Patent Document 1)
In addition, a series of processing including surface modification for the jet pump installed in the reactor pressure vessel, and a surface processing apparatus used for parts replacement and equipped with a grinding means together with a monitoring camera and a fixed leg, A cable that suspends the surface processing device and transmits a monitoring signal from the monitoring camera and an operation signal to the fixed leg and the grinding means, and a remote that connects the cable to operate the monitoring camera and the surface processing device There has been proposed an operation panel. (See Patent Document 2)
Both the above-described surveillance cameras are used only by limiting a specific part of the steam generator of the nuclear power plant. In addition to the above, there are several types related to inspection or surveillance cameras, but all of them are specified for use and cannot be used in other places. That is, it is not suitable for in-cell equipment in the reprocessing facility and maintenance / inspection work by remote control.
As described above, the in-cell work in the reprocessing facility needs to be performed by remote operation from outside the cell so that workers are not exposed. Moreover, the elements of the inspection camera and the circuit of the system were damaged by radiation, and it was necessary to discard the inspection camera after several uses.
Because of such circumstances, in order to perform maintenance / inspection work in a high radiation environment where workers cannot enter, in the cell inspection system that can ensure the safety of workers and can be used by remote control, and in the cell There is a need to provide an inspection camera for the system to be used, to extend the life of the camera inspection system and the inspection camera, and to provide a more reliable camera inspection system and inspection camera for a reprocessing facility.
In addition, the maintenance / inspection parts targeted in the reprocessing facility are in-cell equipment and maintenance equipment.

JP 2002-323589 A (FIG. 1) JP-A-8-5773 (FIG. 1)

  The present invention is capable of safely inspecting the inside of a reprocessing facility under a radiation-contaminated atmosphere by remote control, reducing the cost, extending the service life, and providing a highly reliable camera inspection system for the reprocessing facility, and The purpose is to propose an inspection camera.

In order to solve the above problems, the present invention employs the following means (1) to (6).
(1) The first means is suspended from a swivel hanger suspended from a crane that is installed on the upper part of the cell wall of the reprocessing facility so as to be able to run vertically and horizontally, and having a function capable of driving and rotating around the suspension core. In the camera inspection system of a reprocessing facility, the inspection camera is suspended by a suspension means and has a control means for transmitting and receiving an image signal and an operation signal of the inspection camera. The camera includes a CCD camera, a drive mechanism that drives the CCD camera in the tilt direction, an illumination lamp that irradiates the front of the lens of the CCD camera, and a camera case, and the rotating suspension is rotated. Then, the inspection camera is moved in the panning direction.
(2) The second means is a camera chain inspection system for the reprocessing facility according to the means (1), wherein the suspension means is a link chain that connects a number of links with a shaft and can be bent only in one direction. It is characterized by being.
As a link chain that can be bent only in one direction, for example, a general-purpose roller chain may be used. Further, the roller chain is further simplified, and a large number of links are connected by a shaft with the plate-like link ends overlapped. Such a connection structure can be bent only in one direction and is not easily twisted, and is preferable as the suspension means of the present application.
(3) A third means is characterized in that, in the camera inspection system of the reprocessing facility according to the means (1) or (2), the camera case is made of nitric acid resistant and γ-ray shielding functional material. It is.
In addition, the camera case made of nitric acid resistant and γ ray (gamma ray) shielding functional material may be a composite functional material that is difficult to oxidize and has a high specific gravity. For example, a camera case having a tungsten sheet attached to the inner surface of stainless steel may be used. .
(4) The fourth means is hung from a crane that is installed on the upper part of the cell wall of the reprocessing facility so that it can run vertically and horizontally, or supported by a manipulator of the reprocessing facility, In the inspection camera of the reprocessing facility for imaging, the inspection camera includes a CCD camera, an illumination lamp that irradiates the front of the lens of the CCD camera, and a camera case made of nitric acid resistant and γ-ray shielding functional material. It is characterized by this.
(5) A fifth means is characterized in that, in the inspection camera for the reprocessing facility according to the means (4), a gap or a space in the camera case is filled with a γ-ray shielding functional material. It is.
The γ-ray shielding functional material that fills the gaps and spaces in the camera case may be any material with high specific gravity, such as lead, tungsten, or high specific gravity synthetic resin in the form of powder, grains, or sheets. What is necessary is just to fill and use. Moreover, you may use lead hair.
(6) The sixth means is characterized in that, in the inspection camera for the reprocessing facility according to the means (4) or (5), the camera case is provided with a lead glass imaging window. .

(1) According to the camera inspection system for the reprocessing facility according to the first means, the inspection camera is suspended at a desired position in the reprocessing facility by running the crane installed in the reprocessing facility vertically and horizontally. By rotating the swivel hanger around the suspension core, the inspection camera is rotated in the panning direction (horizontal direction), the control means is operated, the inspection camera is moved in the panning direction and the tilt direction, By inspecting the inspection site and inspecting the obtained image, the reprocessing facility can be inspected safely. In this way, the panning direction of the inspection camera is moved by utilizing the turning function of the existing crane-side swivel hanger, so there is no need to provide a panning mechanism on the inspection camera side. Well, the mechanism of the inspection camera is simplified and miniaturized, the inspection camera can be easily arranged in a narrow inspection place, and the cost can be reduced. The image inspection is performed by an operator looking at a monitor or recording an image for inspection.
(2) According to the camera inspection system of the reprocessing facility according to the second means, the link chain that exhibits the above-described effects and that the suspension means connects a number of links with a shaft and can be bent only in one direction. Therefore, compared with a hanging rope such as a wire rope or a chain, the twist is hardly generated, and the inspection camera can be accurately rotated in the Pann direction. In addition, since the suspension means can be bent only in one direction, even if there is a bend on the way to the inspection site, the suspension means can be bent along the bend and the inspection camera can be easily attached to the inspection site. Can be guided to.
Furthermore, handling and handling of the suspension means is easy, and it is possible to dispose of the long suspension means in a compact state, which reduces the porosity of the waste storage case, and thus reduces the volume of the waste. Can be planned.
(3) According to the camera inspection system of the reprocessing facility according to the third means, the following operational effects can be achieved as well as the above operational effects.
When the reprocessing facility is in operation, the equipment in the facility is filled with nitric acid solution, and at the time of inspection, the nitric acid solution is removed, but the inspection camera is damaged by residual nitric acid droplets, and radiation (Especially gamma rays) may damage the camera element, but the camera case made of nitric acid resistant and gamma ray shielding function material can minimize the damage, and the camera inspection system has a long service life , Improved reliability, and cost reduction.
(4) According to the inspection camera for the reprocessing facility according to the fourth means, in particular, with the camera case made of nitric acid resistant and γ-ray shielding functional material, The camera circuit and the like can be prevented from being damaged, and a clear image can be taken for a long time. The life of the inspection camera can be extended, the damage disposal cycle can be prolonged, and the volume of contaminated waste can be reduced.
(5) According to the inspection camera of the reprocessing facility according to the fifth means, the above-described effects can be obtained, and further, the gamma ray shielding ability can be enhanced by utilizing the gaps and gaps of the inspection camera. It has a higher shielding function and can suppress γ-ray damage from all directions to the minimum, extending the life of inspection cameras, extending the damage disposal cycle, and reducing the volume of contaminated waste. You can plan even more.
(6) According to the inspection camera of the reprocessing facility according to the sixth means, the above-described effects can be achieved, and the incidence of radiation from the imaging lens side of the inspection camera can be reduced, thereby extending the life of the inspection camera.

FIGS. 1 to 14 relate to Embodiments 1 to 4 according to the present invention. A crane in a reprocessing facility for spent fuel travels vertically and horizontally, and an inspection camera is placed at a desired position in the reprocessing facility. It is an Example figure regarding the camera inspection system of the reprocessing facility which supports the inspection camera by the hanging arrangement or the gripping means such as a manipulator and inspects the reprocessing facility by the captured image of the inspection camera or the inspection camera.
(Example 1)
1 is a schematic view showing an embodiment of a camera inspection system using a suspension means, FIG. 2 is a front view showing an embodiment of an inspection camera body, and FIG. 3 is a side view (schematic diagram) of FIG. . 1 to 3 show the inside of the inspection camera for the sake of convenience, but in reality, the entire circumference of the inspection camera is covered with a camera case.
In the cell of the reprocessing facility, a concrete wall having a shielding function (hereinafter referred to as a cell wall) is provided in order to ensure the safety of workers. Further, in the reprocessing facility, a crane (not shown) is installed on top of the cell walls a (see FIG. 1) (between the cell walls a or between a pair of cell walls a facing each other) so as to be able to run vertically and horizontally. ) Is provided.
A wire rope e of the crane is hung on a pulley f (elevating pulley), and is suspended in the order of the pulley f, the swivel hanger c, and the socket d. Further, the swivel hanger c (hereinafter referred to as a pulley case) has a function capable of being driven and rotated around its hanger b (around the vertical line). The pulley case c can be rotated by an operation mechanism on the crane side and a control means 10 described later.

A suspension piece 20 on the camera inspection system 1 side is attached to the socket d by a pin 21, and the inspection camera 2 is suspended by suspension means 9 connected to the suspension piece 20.
The suspension means 9 can be bent in only one direction and is not easily twisted. For example, a plurality of flat links 9a having shaft holes at both ends are overlapped so that one shaft hole matches. In this state, a large number of shafts 9b may be connected so as to be rotatable (see FIG. 3), and a general-purpose roller chain is used in this embodiment.
The inspection camera 2 includes a CCD camera 3, a drive mechanism 4 (see FIG. 2) that drives the CCD camera 3 in the tilt direction, an illumination lamp 14 that irradiates the front of the lens of the CCD camera 3, and nitric acid and γ-ray shielding. The camera case 6 is made of a functional material. The entire inspection camera 2 is covered with a camera case 6. The camera case 6 is formed by attaching a tungsten sheet material to a stainless steel material.
The camera inspection system 1 includes a control unit 10 that transmits and receives an image signal and an operation signal of the inspection camera 2, a monitor 11 that monitors and inspects an image captured by the inspection camera 2, and between the control unit 10 and the inspection camera 2. And a cable 8 connected to the. The cable 8 is a bundle of camera images, motor power, illumination, signals for camera control (focus, iris, zoom), and power lines. Moreover, the cable 8 is bundled with the suspension means 9 at the time of inspection.

Further, in both the present embodiment and the embodiments 2 to 4 described below, at least the CCD camera 3 is housed in the camera case 6 as shown in FIG. It is not or is kept to a minimum. Further, the surrounding gaps and spaces excluding the lens of the CCD camera 3 are made of a shielding material 46 made of a γ-ray shielding functional material (for example, lead hair, lead, tungsten, high specific gravity synthetic resin, etc. in powder, grains, or sheets). Etc.).
A lead glass 7 is attached to the imaging window in front of the lens of the inspection camera 2 to protect the CCD camera 3 from radiation (mainly γ rays). Furthermore, the outer side of the camera case 6 is made of stainless steel, and a tungsten sheet is stuck on the inner surface thereof, thereby fulfilling a nitric acid resistance and γ-ray shielding function. The outer periphery of the CCD camera 3 is covered with an insulating sheet 47 to insulate it from the shielding material 46.

The crane suspension type camera of Example 1 will be described in detail below.
(1) Camera inspection system
From a pulley case c that can be lifted and lowered (panned function) freely suspended from an in-cell crane (hereinafter simply referred to as a crane) that is laid across a cell wall a so as to be able to run vertically and horizontally. The inspection camera 2 is suspended through the connection fitting 12. It consists of the movement and setting of the inspection position, the control means 10 outside the cell wall a for transmitting and receiving the observation signal and the operation signal of the inspection camera 2, and the monitor 11. For example, in the dissolution tank of the reprocessing facility, from the upper part This is a remote control system for inspecting the tank by suspending the inspection camera 2 in the tank.
The movement and setting of the inspection position of the inspection camera 2 and the observation and operation based on the observation signal of the inspection camera 2 are performed remotely by looking through the observation window provided on the cell wall a or the monitor 11.

(2) Crane hanging camera
Housed in the camera case 6 of the inspection camera 2 are a CCD camera 3, a drive motor 13 that drives the CCD camera 3 in the tilt direction, and illumination lamps 14 (two in this example) that illuminate the inspection site. Yes. Observe any inspection site by using the drive mechanism 4 in the tilt direction of the CCD camera 3, the auto focus, the auto iris function (automatic iris function) and the panning function by the pulley case c suspended from the crane. The monitor 11 outside the cell wall a through which operation signals are transmitted and received is formed so that it can be remotely operated while observing at any time.
The focus (focal point) and iris (aperture) can also be manually adjusted by remote control from the control means 10 outside the cell wall a.
A master-slave manipulator (hereinafter referred to as “MSM”) (not shown) provided on the cell wall a may be used as auxiliary means for setting the inspection camera 2.
The crane-suspended main inspection camera 2 is suspended from a crane via a pulley case c that can be rotated horizontally and rotated, and the pulley case c has a function of turning around a suspension core b (vertical line). ing.
The inspection camera 2 can be panned by rotating the pulley case c, and the inspection camera 2 is rotated 360 degrees through the suspension means 9. That is, if the pulley case c is turned, panning of the inspection camera 2 in the entire circumferential direction can be performed as it is.
The CCD camera 3 is moved in the tilt direction by driving the drive motor 13. The rotation of the drive shaft of the drive motor 13 is transmitted from the gear mechanism 5 (see FIG. 2) to the chain mechanism 15 (see FIG. 3), and the CCD camera 3 is rotated by rotating the shaft 19 of the CCD camera 3 (see FIG. 3). In the middle, driving in the range of two arrows in the left side of the camera 3 is performed.
In FIG. 1, 8a is a connection tool with the cable 8A on the cell wall a side, and 8b is a connection tool with the extension cable 8B. Note that the inspection camera 2 and the suspension means 9 used in the cell are contaminated. The connection tool 8a and the pin 21 may be disconnected and the inspection camera 2 and the suspension means 9 may be replaced and discarded. The control means 10 and the monitor 11 outside the cell may be used continuously.

The camera inspection system according to the present embodiment has the following characteristics.
(1) Camera inspection system
(1-1) A remote operation camera inspection system used for operation and maintenance inspection of equipment in the reprocessing facility, including an inspection camera 2 and its control system, and a suspension means 9 for suspending the inspection camera 2 And a camera inspection system constituted by gripping means (manipulator or the like to be described later) for gripping the inspection camera 2.
(1-2) The camera inspection system 1 according to (1-1), wherein at least one of the suspension means 9 and the gripping means is used.
(1-3) In the camera inspection system 1 according to the item (1-1), the suspension means 9 for the inspection camera 2 suspended from an in-cell crane that is installed so as to be able to travel vertically and horizontally across the cell wall a. Or, since the camera inspection system is configured by gripping means, any inspection position can be moved and set.
(1-4) In the camera inspection system 1 of the item (1-1), the inspection camera 2 has only a tilt mechanism that performs a tilt direction function among the pan and tilt direction movement functions required for inspection. thing.
(2) Crane hanging camera
(2-1) An inspection camera 2 used for camera inspection of spent nuclear fuel reprocessing equipment used in a nuclear power plant, comprising a CCD camera 3 in a camera case 6 of a crane suspended inspection camera 2; A drive motor 13 for driving the tilt function of the CCD camera 3 and a plurality of (two in this example) illumination lamps 14 are accommodated above the CCD camera 3 to be compact.
(2-2) The inspection camera 2 shown in the item (2-1), wherein the chain mechanism 15 is used to drive the tilt function of the CCD camera 3.
(2-3) The inspection camera 2 shown in the item (2-1), wherein an arbitrary inspection site is observed by a panning function of the pulley case c, a camera tilt function, an autofocus function, and an auto iris function. It must be formed in a structure that can be remotely operated while observing from time to time through the monitor 11 that transmits and receives observation results and operation signals.
(2-4) The inspection camera 2 shown in the item (2-1), wherein a roller chain is used for the suspension cable from the pulley case c.
(2-5) The inspection camera according to the item (2-1), wherein the panning function at an arbitrary height of the inspection camera 2 is obtained by the lifting means of the pulley case c.
(2-6) The inspection camera 2 shown in the item (2-1), wherein these operations are configured so that they can be remotely operated through a viewing window provided on the cell wall a.

The embodiment described above can be expected to have the following effects.
(1) Camera inspection system
The camera inspection system 1 includes a control means 10 that looks through a viewing window provided on the cell wall a, moves and sets the inspection position of the inspection camera 2, and transmits and receives observation signals and operation signals of the inspection camera 2. Since the inspection work is performed from the outside of the cell by remote operation, the amount of exposure of the operator can be significantly reduced in the inspection work inside the tank, for example, the dissolution tank.
(1-1) The suspension means 9 needs to have a length of about 10 m, and in this embodiment, a roller chain that can be bent only in one direction is used. The rotation of the pulley case c can be accurately transmitted to the inspection camera 2 side without being generated, and the movement of the inspection camera 2 in the panning direction can be transmitted reliably and even with a slight rotation. Hanging can be performed. Further, since it can be folded and compacted at the time of disposal of contamination, it is not necessary to perform cutting or the like, and it is easy to dispose of it in a drum can etc. As a result, volume can be reduced.
(2) Crane hanging type camera (2-1) The camera case 6 of the crane hanging type inspection camera 2 has a CCD camera 3, a drive motor 13 for driving the tilt function of the CCD camera 3, and the CCD. A plurality of (two in this example) illumination lamps 14 are housed on the upper side of the camera 3 to be compact.
(2-2) Since the chain mechanism 15 is used to drive the tilt function of the CCD camera 3, a reliable tilt rotation of the CCD camera 3 can be obtained.
(2-3) Observe an arbitrary inspection site by the pan function of the pulley case c, the tilt function of the inspection camera 2, the auto focus, and the auto iris function, and the monitor 11 through which the observation result and the operation signal are transmitted and received, Remote operation is possible while observing at any time.
(2-4) Since a roller chain is used for the suspension cable from the pulley case c, the inspection camera 2 can be subjected to a panning function in any direction by the rotation of the pulley case c.
(2-5) The inspection camera 2 can be moved to an arbitrary height by the lifting / lowering means of the crane.
(2-6) These operations can be performed remotely by looking through a viewing window provided on the cell wall a or the monitor 11 or the like.

(Example 2)
FIG. 4 is a cross-sectional view (schematic diagram) showing the inspection status of the inspection camera in the chute by the suspension means. FIG. 5 is a cross-sectional view (schematic diagram) showing an embodiment of an inspection camera. FIG. 6 is a front view (schematic diagram) of FIG. FIG. 7 is a plan view (schematic diagram) showing the inside of FIG.
The present embodiment is an inspection camera for inspection work inside a chute for sliding a fuel chip fragment into a dissolution tank, and will be described with reference to FIGS. 1 and 4 to 7.
(The same reference numerals are used for the same parts as in the first embodiment.)
(1) In-chute camera inspection system The in-chute camera inspection system is arranged at the opening of the chute B by a suspension means 9 (chain) for suspending the inspection camera 2 suspended from a crane (not shown). An inspection camera 2 that slides and inserts into the inside by the dead weight of the camera 2 to observe an inspection site inside the chute B, and a monitor 11 that is provided outside the cell with observation signals and operation signals observed by the inspection camera 2 (FIG. 1). And a control means 10 (see FIG. 1) that is remotely operated while observing from time to time. Further, the camera inspection system inspects the chute B by moving and setting the inspection position with a crane or a gripping means. The suspension means 9 in the first embodiment uses a roller chain, but in this embodiment, a simple chain (chain) is used. A wire rope may also be used.
(2) Inspection camera in the chute
The inspection camera 2 houses in its camera case 6 a CCD camera 3 pivotally supported by a support frame 6a, an illumination lamp 14, and a drive mechanism 4 for performing a panning function. The inspection camera 2 has a pan function, an auto focus function, and an auto iris function to observe an arbitrary inspection site in the chute B, and remotely while observing the observation result and an operation signal and the like as needed. Operated.
A camera case 6 formed in a square cross section, a drive motor 13 for driving the CCD camera 3 in the panning direction, and a plurality of (two in this example) illumination lamps 14 disposed on both sides of the CCD camera 3. And the inside of the chute B can be confirmed in a wide range. In addition, the pan function is formed so that the focus posture of the CCD camera 3 is slightly downward and the bottom surface of the chute B is observable. It has a structure.
Note that the panning drive range in the inspection camera 2 is a range of two arrows described on the left side of the inspection camera 2 in FIG. Since the inspection camera 2 in FIGS. 5 and 7 is suspended by the suspension means 9, the left side of the inspection camera 2 is actually positioned below in the drawings. Therefore, the CCD camera 3 is moved in the panning direction by driving the drive motor 13, which is different from that in the first embodiment (in the first embodiment, the CCD camera 3 is moved in the tilt direction by driving the driving motor 13). )

The camera inspection system according to the present embodiment has the following characteristics.
(1) Camera inspection system
(1-1) A remote operation camera inspection system used for operation and maintenance inspection of equipment in the reprocessing facility, including an inspection camera 2 and its control system, and a suspension means 9 for suspending the inspection camera 2 And a camera inspection system constituted by gripping means (manipulator or the like to be described later) for gripping the inspection camera 2.
(1-2) The camera inspection system 1 uses at least one of the suspension means 9 or a gripping means such as a robot hand.
(1-3) Since the camera inspection system configuration is based on the suspension means 9 or the gripping means of the inspection camera 2 suspended from the in-cell crane that is installed so as to be able to run vertically and horizontally across the cell wall a, the chute It is possible to move and set any inspection position.
(2) Inspection camera in the chute (2-1) The inspection camera 2 is suspended by attaching a suspension cable by the suspension means 9 and can be observed on the inner surface of the chute B.
(2-2) The inspection camera 2 can be observed over a wide range by the drive motor 13 that drives the inspection camera 2 in the panning direction.
(2-3) The tilt function is formed by slightly deflecting the focus posture of the CCD camera 3 and, for example, the upper surface of the inner surface can be observed by the focus posture of the inner lower surface and the focus posture in a state where the inspection camera 2 is turned upside down. The inspection camera 2 can be substituted for the tilt function by forming the structure.
(2-4) The inspection camera 2 has only the pan function in the inspection camera 2 and omits the tilt function.

The thing of a present Example can anticipate the following effects.
(1) In-chute camera inspection system
The in-chute camera inspection system 1 has a control means 10 that looks through a viewing window provided on the cell wall a, and moves and sets the inspection position of the inspection camera 2 and transmits and receives observation signals and operation signals of the inspection camera 2. (Refer to FIG. 1) is a remote-controlled inspection work, and therefore, in the inspection work in the chute B, the exposure dose of the operator can be significantly reduced.
(2) In-chute inspection camera (2-1) The in-chute inspection camera has a relatively small CCD camera 3 and a drive motor that drives the CCD camera 3 in a pirn direction in a camera case 6 formed in a square cross section. 13 and a plurality of illumination lamps 14 disposed on both sides of the CCD camera 3 are housed, so that the inspection site can be stably observed.
(2-2) When observing the bottom surface of the chute B, the focus posture of the CCD camera 3 is slightly downward and can be inserted into the chute B. The camera 2 can be observed in a state where the camera 2 is turned upside down.
(2-3) Since the drive motor 13 for performing the panning function is provided in the camera case 6, the inner surface of the chute B can be observed in a wider range.

(Example 3)
FIG. 8 is a cross-sectional view (schematic diagram) of the RPM portable camera TR (with flexible tube and rod). FIG. 9 is a cross-sectional view (schematic diagram) of the RPM portable camera R (with a rod). FIG. 10 is a front view (schematic diagram) of FIG. 11A is a cross-sectional view (schematic diagram) showing an inspection state of the bucket inner surface using the RPM portable camera TR of FIG. 8, and FIG. 11B is a diagram of the bucket inner surface using the RPM portable camera R of FIG. It is sectional drawing (schematic diagram) which shows the inspection condition.
In this embodiment, the joint is held by a tongue T (see FIG. 11) of the articulated hoist attached to a power manipulator carrier (not shown) that is installed to be able to run vertically and horizontally across the cell wall. With an RPM portable camera, for example, the inspection camera 2 is inserted along the inlet from a narrow inlet in a dissolution tank or the like, and the state in a relatively deep hole D (for example, bucket F in the loading casing E) is observed. is there. 11 communicates with the lower end of the chute B in FIG.
In addition, the power manipulator carrier is an electric arm in which the wire rope (see FIG. 1) of the above-described in-cell crane can be expanded and contracted, and has an arm portion that can be bent at the tip portion. The camera can be held.
(1) RPM portable camera system The RPM portable camera system is gripped by a remote power manipulator (large power manipulator, hereinafter referred to as “RPM”), and is moved and set to the inspection position, and the inspection site is observed. It is a remote operation system that is configured with control means outside the cell that transmits and receives observation signals and operation signals, and inspects the dissolution tank.
As shown in FIGS. 8 and 11A, the inspection camera 2 (TR type) of the RPM portable camera TR has a gripping mechanism portion (not shown) at the tip of an articulated hoist (not shown) attached to a power manipulator carrier. An inspection camera 2 that is inserted obliquely from the narrow entrance of the dissolution tank and is in a relatively deep hole D (bucket F) while being gripped by a dissolution tank and an observation signal observed by the CCD camera 3 And a portable camera system comprising control means installed outside the cell for transmitting and receiving operation signals.
The camera case 6 accommodates a CCD camera 3, a drive mechanism 4 for tilting the CCD camera 3, and an illumination lamp 14, and the tilting function of the camera as well as the auto focus and auto iris functions allow the inside of the dissolution tank. The inspection part is observed, and the control means 10 (see FIG. 1) is remotely operated while observing at any time via the monitor 11 (see FIG. 1) to which the observation results and operation signals are transmitted and received.

(2) RPM portable camera (2-1) As shown in FIGS. 8 and 9, the RPM portable camera has a flexible tube / rod that is gripped by the tip of an articulated hoist mounted on a remote power carrier. There are two types: (TR type) and with rod (R type).
(The TR type and the R type camera case 6 have the same inside, so the TR type will be described, and the description of the R type will be partially omitted.)
(2-2) The camera case 6 includes a CCD camera 3, a drive motor 13 of a tilt mechanism that drives the CCD camera 3 in the tilt direction (in the TR type of FIG. Two) illumination lamps 14 are accommodated.
(2-3) A chain mechanism 35 is used as a drive means for the tilt mechanism.
(2-4) A flexible tube 36 is attached to the upper end portion of the TR type camera case 6, and a rod 37 is continuously provided, and is gripped by a tongue T (see FIG. 11A) at the RPM tip portion. The observation posture is maintained.
(2-5) A rod 38 is connected to the upper end of the R-type camera case 6 and is held by a tongue T provided at the tip of the RPM to maintain the observation posture.

The thing of a present Example has the following characteristic points.
(1) RPM portable camera system The RPM portable camera system is composed of a spent nuclear fuel fragment and a sheath that are sheared by a shearing machine while being gripped by a tongue T of an articulated hoist attached to a power manipulator carrier. A portable camera system capable of receiving a tube and inserting an inspection camera from a narrow inlet of a dissolution tank to be melted and observing a state in a relatively deep hole D (bucket E), The control system includes a gripping unit and transmits and receives an observation signal observed by the inspection camera 2.
(2) RPM portable camera (2-1) The camera case 6 of the RPM portable inspection camera 2 includes a CCD camera 3, a drive motor 13 for driving the CCD camera 3 in the tilt direction, and a plurality of (this) Two illumination lamps 14 are accommodated in the example.
(2-2) The chain mechanism 35 is used as a driving mechanism for the tilt mechanism of the inspection camera 2.
(2-3) The RPM portable camera (TR type) has a flexible tube 36 attached to the upper end of the camera case 6 and a rod 37 connected thereto, and is gripped by a tongue T provided at the tip of the RPM. And a structure that maintains the observation posture.
(2-4) The RPM portable camera (R type) has a rod 38 connected to the upper end of the camera case 6 and is gripped by a tongue T (see FIG. 11B) provided at the tip of the RPM. A structure that maintains the observation posture.

This example can be expected to have the following effects.
(1) RPM portable camera system Since the RPM portable camera system can be performed by a remote operation inspection work, the exposure amount of the worker can be significantly reduced.
(2) RPM portable camera (2-1) The TR type in which the flexible tube 36 and the rod 37 are connected to each other, as shown in FIG. Utilizing the flexibility of the flexible tube 36 connected to the tip of the rod 37, it is inserted through the hole D, and is in a relatively deep bucket F (the cut piece g of the cladding tube remaining in the bucket F, the basket F It is suitable for observing clogging of the bottom hole h).
(2-2) The R type is suitable for inspecting and observing the outer surface of the dissolution tank by holding the fixing rod 38 with the tongue T as shown in FIG.
(2-3) Since it can be grasped by the tongue T at the tip of the RPM and can take any observation posture, it is suitable for observing a portion that cannot be observed because there is an obstacle in the observation direction with a camera that is simply suspended vertically.

Example 4
FIG. 12 is a cross-sectional view (schematic diagram) of a compact MSM portable camera according to the fourth embodiment. FIG. 13 is a front view (schematic diagram) of FIG.
In the present embodiment, in order to perform device operation and inspection work in the cell, a master-slave manipulator (hereinafter referred to as MSM, not shown) provided on the cell wall a (see FIG. 1) is provided with a tongue. This is a small MSM portable camera for grasping at T (see FIG. 11) and looking through a window provided in the cell wall a to inspect each part in the cell.
The small MSM type portable camera includes an inspection camera 40 capable of observing devices in the cell while being held by a tongue T at the tip of the MSM, and a gripping hardware 45 that is a gripped portion of the inspection camera 40. A control system equipped outside the cell that transmits and receives an observation signal and an operation signal observed by the CCD camera 3 while being held by T.
As shown in FIG. 12, the inspection camera 40 has a CCD camera 3 and a plurality of illumination lamps 43 housed in a camera case 41. Further, a transparent glass 44 for preventing an obstacle is provided in front of the camera case 41, and the inspection camera 40 can be handled by directly grasping the gripping hardware 45 with the tongue T (not shown) of the MSM.
The observation signal observed by the CCD camera 3 and the control system (not shown) for transmitting / receiving the operation signal and the system are the same as those in the first embodiment, and detailed description thereof is omitted.

  A gap between the camera case 41 and the CCD camera 3 is filled with a shielding material 46 for protecting the CCD camera 3 from radiation, and a lead glass 7 is attached in front of the lens of the CCD camera 3. An insulating sheet 47 is provided on the outer periphery of the CCD camera 3 to insulate it from the shielding material 46. In FIG. 12, reference numeral 48 denotes a camera portable ring, and 49 denotes a fall prevention chain. In this embodiment, the inspection camera 40 is tilted and moved in the pan direction by a manipulator installed in the reprocessing facility.

According to the present embodiment, the following effects can be expected.
The small MSM portable camera inspection system can be expected to have the same effect as that of the camera inspection system described in the first embodiment. The small MSM portable inspection camera 40 can be moved and set to an observable position by directly grasping with the MSM installed in the cell, so that the equipment in the cell can be effectively used. Since it is excellent in portability, every part in the cell can be inspected flexibly.

  The present invention is not limited to the above-described embodiments, and can be appropriately modified as necessary. In addition, each component in the embodiment includes those that can be easily assumed by those skilled in the art and those that are substantially the same.

It is a schematic diagram which shows one Example of the camera inspection system which uses the suspension means which concerns on Example 1. FIG. It is a front view which shows one Example of the inspection camera main body which concerns on Example 1. FIG. FIG. 3 is a side view (schematic diagram) of FIG. 2. It is sectional drawing (schematic diagram) which shows the inspection condition of the inspection camera in a chute | shoot with the suspension means which concerns on Example 2. FIG. It is sectional drawing (schematic diagram) which shows one Example of the inspection camera which concerns on Example 2. FIG. FIG. 6 is a front view (schematic diagram) of FIG. 5. FIG. 6 is a plan view (schematic diagram) showing the inside of FIG. 5. 10 is a cross-sectional view (schematic diagram) of an RPM portable camera TR according to Embodiment 3. FIG. 10 is a cross-sectional view (schematic diagram) of an RPM portable camera R according to Embodiment 3. FIG. It is a front view (schematic diagram) of FIG. (A) is a cross-sectional view (schematic diagram) showing the inspection status of the bucket inner surface using the RPM portable camera TR of FIG. 8, and (B) is the inspection status of the bucket inner surface using the RPM portable camera R of FIG. It is sectional drawing (schematic diagram) shown. FIG. 10 is a cross-sectional view (schematic diagram) of a small MSM portable camera according to a fourth embodiment. FIG. 13 is a front view (schematic diagram) of FIG. 12. It is sectional drawing which shows the radioactive shielding structure of the inspection camera of Examples 1-4.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Camera inspection system 2 Inspection camera 3 CCD camera 4 Drive mechanism 5 Gear mechanism 6 Camera case 7 Lead glass 8 Cable 9 Suspension means 10 Control means 11 Monitor 12 Connecting metal fitting 13 Drive motor 14 Illumination lamp 15 Chain mechanism c Pulley case

Claims (6)

  The inspection camera is suspended by a suspension means from a swinging suspension that is hung on a crane installed in the upper part of the cell wall of the reprocessing facility so that it can run vertically and horizontally, and that can be driven and rotated around the suspension core. In a camera inspection system of a reprocessing facility that has control means for transmitting and receiving an image signal and an operation signal of the inspection camera, and inspects an image captured by the inspection camera outside the cell, the inspection camera includes the CCD camera and the CCD The camera has a drive mechanism for driving in the tilt direction, an illumination lamp for illuminating the front of the lens of the CCD camera, and a camera case. A camera inspection system for reprocessing facilities.   2. The camera inspection system for a reprocessing facility according to claim 1, wherein the suspension means is a link chain that connects a number of links with a shaft and can be bent only in one direction.   The camera inspection system for a reprocessing facility according to claim 1 or 2, wherein the camera case is made of a nitric acid resistant and γ-ray shielding functional material.   In an inspection camera for a reprocessing facility that is suspended from a crane that is installed on the cell wall of the reprocessing facility so that it can run vertically and horizontally, or that is supported by a manipulator of the reprocessing facility and images a desired location in the reprocessing facility. The reprocessing facility characterized in that the inspection camera comprises a CCD camera, an illumination lamp for irradiating the front of the lens of the CCD camera, and a camera case made of nitric acid resistant and γ-ray shielding functional material. Inspection camera.   The inspection camera for a reprocessing facility according to claim 4, wherein a gamma ray shielding functional material is filled in a gap or a space in the camera case.   6. The inspection camera for a reprocessing facility according to claim 4, wherein the camera case includes an imaging window made of lead glass.

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